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2013 A New Real-Time Path Planning Method Based on the Belief Space
Yu-xin Zhao, Xin-an Wu, Yan Ma
Abstr. Appl. Anal. 2013(SI03): 1-14 (2013). DOI: 10.1155/2013/260578

Abstract

A new approach of real-time path planning based on belief space is proposed, which solves the problems of modeling the real-time detecting environment and optimizing in local path planning with the fusing factors. Initially, a double-safe-edges free space is defined for describing the sensor detecting characters, so as to transform the complex environment into some free areas, which can help the robots to reach any positions effectively and safely. Then, based on the uncertainty functions and the transferable belief model (TBM), the basic belief assignment (BBA) spaces of each factor are presented and fused in the path optimizing process. So an innovative approach for getting the optimized path has been realized with the fusing the BBA and the decision making by the probability distributing. Simulation results indicate that the new method is beneficial in terms of real-time local path planning.

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Yu-xin Zhao. Xin-an Wu. Yan Ma. "A New Real-Time Path Planning Method Based on the Belief Space." Abstr. Appl. Anal. 2013 (SI03) 1 - 14, 2013. https://doi.org/10.1155/2013/260578

Information

Published: 2013
First available in Project Euclid: 26 February 2014

zbMATH: 1359.93326
MathSciNet: MR3147850
Digital Object Identifier: 10.1155/2013/260578

Rights: Copyright © 2013 Hindawi

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Vol.2013 • No. SI03 • 2013
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